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// Copyright (c) 2015-2020 CNRS INRIA |
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// |
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#include "pinocchio/bindings/python/algorithm/algorithms.hpp" |
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#include "pinocchio/algorithm/kinematics.hpp" |
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namespace pinocchio |
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{ |
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namespace python |
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{ |
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BOOST_PYTHON_FUNCTION_OVERLOADS(getVelocity_overload, (getVelocity<double,0,JointCollectionDefaultTpl>), 3, 4) |
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BOOST_PYTHON_FUNCTION_OVERLOADS(getAcceleration_overload, (getAcceleration<double,0,JointCollectionDefaultTpl>), 3, 4) |
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BOOST_PYTHON_FUNCTION_OVERLOADS(getClassicalAcceleration_overload, (getClassicalAcceleration<double,0,JointCollectionDefaultTpl>), 3, 4) |
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void exposeKinematics() |
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{ |
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using namespace Eigen; |
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✓✗ |
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bp::def("updateGlobalPlacements", |
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&updateGlobalPlacements<double,0,JointCollectionDefaultTpl>, |
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bp::args("model","data"), |
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"Updates the global placements of all joint frames of the kinematic " |
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"tree and store the results in data according to the relative placements of the joints.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n"); |
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✓✗ |
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bp::def("getVelocity", |
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&getVelocity<double,0,JointCollectionDefaultTpl>, |
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✓✗ |
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getVelocity_overload( |
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bp::args("model","data","joint_id","reference_frame"), |
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"Returns the spatial velocity of the joint expressed in the coordinate system given by reference_frame.\n" |
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"forwardKinematics(model,data,q,v[,a]) should be called first to compute the joint spatial velocity stored in data.v")); |
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✓✗ |
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bp::def("getAcceleration", |
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&getAcceleration<double,0,JointCollectionDefaultTpl>, |
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✓✗ |
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getAcceleration_overload( |
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bp::args("model","data","joint_id","reference_frame"), |
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"Returns the spatial acceleration of the joint expressed in the coordinate system given by reference_frame.\n" |
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"forwardKinematics(model,data,q,v,a) should be called first to compute the joint spatial acceleration stored in data.a .")); |
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✓✗ |
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bp::def("getClassicalAcceleration", |
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&getClassicalAcceleration<double,0,JointCollectionDefaultTpl>, |
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✓✗ |
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getClassicalAcceleration_overload( |
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bp::args("model","data","joint_id","reference_frame"), |
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"Returns the \"classical\" acceleration of the joint expressed in the coordinate system given by reference_frame.\n" |
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"forwardKinematics(model,data,q,v,a) should be called first to compute the joint spatial acceleration stored in data.a .")); |
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✓✗ |
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bp::def("forwardKinematics", |
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&forwardKinematics<double,0,JointCollectionDefaultTpl,VectorXd>, |
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bp::args("model","data","q"), |
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"Compute the global placements of all the joints of the kinematic " |
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"tree and store the results in data.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n" |
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"\tq: the joint configuration vector (size model.nq)\n"); |
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✓✗ |
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bp::def("forwardKinematics", |
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&forwardKinematics<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>, |
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bp::args("model","data","q","v"), |
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"Compute the global placements and local spatial velocities of all the joints of the kinematic " |
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"tree and store the results in data.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n" |
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"\tq: the joint configuration vector (size model.nq)\n" |
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"\tv: the joint velocity vector (size model.nv)\n"); |
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✓✗ |
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bp::def("forwardKinematics", |
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&forwardKinematics<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd,VectorXd>, |
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bp::args("model","data","q","v","a"), |
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"Compute the global placements, local spatial velocities and spatial accelerations of all the joints of the kinematic " |
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"tree and store the results in data.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n" |
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"\tq: the joint configuration vector (size model.nq)\n" |
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"\tv: the joint velocity vector (size model.nv)\n" |
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"\ta: the joint acceleration vector (size model.nv)\n"); |
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} |
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} // namespace python |
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} // namespace pinocchio |